Compilation for embedded target

[Eryk-Mozdzen]

Describe the bug

I want to use OPEN on microcontroller, ideally on some Cortex-M4 or Cortex-M33 core. Firstly I'm trying to compile project for something diffrent than my computer (x86_64-unknown-linux-gnu). I saw that in main README there is mentioned Raspberry Pi Pico, so I go for it first.

Using python interface i designed my optimizer and it works perfectly using TCP/IP interface in another python test app. I remove TCP/IP interface generation, add C binding generation option and specify target.

# for python test app
#build = og.config.BuildConfiguration() \
#    .with_build_mode('release')        \
#    .with_tcp_interface_config()

# for RPI
build = og.config.BuildConfiguration()                 \
    .with_target_system('arm-unknown-linux-gnueabihf') \
    .with_build_mode('release')                        \
    .with_build_c_bindings()

After compilation I expected static linked library for RPI architecture and no errors, but instead I receive many liner errors from Rust:

[INFO] --- Initialising builder: 'open_optimizer'
[INFO] Checking user parameters
[INFO] Creating necessary folders
[INFO] Copying icasadi interface to target directory
[INFO] Generating icasadi's Cargo.toml
[INFO] Generating Cargo.toml for target optimizer
[INFO] Generating icasadi Rust library file
[INFO] Defining CasADi functions and generating C code
[INFO] Defining function psi(u, xi, p) and its gradient
[INFO] Function psi and its gradient (C code)
[INFO] Defining function F1(u, p)
[INFO] Mapping F1 (C code)
[INFO] Defining function F2(u, p)
[INFO] Mapping F2 (C code)
[INFO] Defining preconditioning functions
[INFO] Generating casadi_memory.h
[INFO] Generating intercafe.c (C interface)
[INFO] Generating main code for target optimizer (lib.rs)
[INFO] Generating build.rs for target optimizer
[INFO] Generating YAML configuration file
[INFO] Making CasADi functions static
[INFO] Building optimizer
error: linking with `cc` failed: exit status: 1
  |
  = note: LC_ALL="C" PATH="/home/emozdzen/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/x86_64-unknown-linux-gnu/bin:/home/emozdzen/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/x86_64-unknown-linux-gnu/bin:/home/emozdzen/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/x86_64-unknown-linux-gnu/bin:/opt/drake/bin:/usr/local/texlive/2024/bin/x86_64-linux:/home/emozdzen/xtensa-lx106-elf/bin:/home/emozdzen/arm-gnu-toolchain-13.3.rel1-x86_64-arm-none-eabi/bin:/opt/drake/bin:/opt/ros/iron/bin:/usr/local/texlive/2024/bin/x86_64-linux:/home/emozdzen/xtensa-lx106-elf/bin:/home/emozdzen/arm-gnu-toolchain-13.3.rel1-x86_64-arm-none-eabi/bin:/home/emozdzen/.cargo/bin:/home/emozdzen/.local/bin:/usr/local/sbin:/usr/local/bin:/usr/sbin:/usr/bin:/sbin:/bin:/usr/games:/usr/local/games:/snap/bin:/snap/bin" VSLANG="1033" "cc" "-Wl,--version-script=/tmp/rustcfQt8jp/list" "-Wl,--no-undefined-version" "/tmp/rustcfQt8jp/symbols.o" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.1.rcgu.o" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.2.rcgu.o" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.3.rcgu.o" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.8z8dfa2nop71aqrzx965o7rnm.rcgu.o" "-Wl,--as-needed" "-Wl,-Bstatic" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/libicasadi_open_optimizer-2dffb4a2eb58bed9.rlib" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/liboptimization_engine-14cf928774247997.rlib" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/liblbfgs-1cb350dcef0fa0aa.rlib" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/libroots-05442ddd9bed7419.rlib" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/libinstant-18a0fbff326f3659.rlib" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/libmodcholesky-569805b5afd7f8f8.rlib" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/librand_xorshift-e50cb334e44b9e5f.rlib" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/libndarray_rand-c509305c45cc0dec.rlib" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/librand_distr-bebae15ee3471821.rlib" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/librand-3d19ac018b640b5c.rlib" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/librand_chacha-917b2374fc559b6b.rlib" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/libppv_lite86-a253c61e4325977d.rlib" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/libzerocopy-7287dc1ccdf11c9f.rlib" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/libbyteorder-7153e1568e981379.rlib" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/librand_core-3e2173f3249dfde2.rlib" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/libgetrandom-80524e9b366d0ee7.rlib" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/libcfg_if-4c69056948ad1a49.rlib" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/libndarray-620b1564021007b8.rlib" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/libmatrixmultiply-1c174760c3c8ff0d.rlib" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/libapprox-17be8e6ee9fe333b.rlib" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/librawpointer-bace4369fec47e2b.rlib" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/libnum-7ea4f6bed919bfb3.rlib" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/libnum_iter-f44d2700c2d485d7.rlib" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/libnum_rational-d111316d53ba5153.rlib" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/libnum_complex-72602c310b8e0fa0.rlib" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/libnum_bigint-abe15776e3b31b1e.rlib" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/libnum_integer-29218f2ab7241312.rlib" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/libnum_traits-f201eafca2007e24.rlib" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/liblibc-55a48986be3b71e4.rlib" "/home/emozdzen/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/arm-unknown-linux-gnueabihf/lib/libstd-3acf21097c36ca3e.rlib" "/home/emozdzen/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/arm-unknown-linux-gnueabihf/lib/libpanic_unwind-bf602508c94b1a20.rlib" "/home/emozdzen/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/arm-unknown-linux-gnueabihf/lib/libobject-c7e1363300bbe437.rlib" "/home/emozdzen/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/arm-unknown-linux-gnueabihf/lib/libmemchr-1675fda403e44309.rlib" "/home/emozdzen/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/arm-unknown-linux-gnueabihf/lib/libaddr2line-02eaafdfe4c41c36.rlib" "/home/emozdzen/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/arm-unknown-linux-gnueabihf/lib/libgimli-110bc52d4a8d8914.rlib" "/home/emozdzen/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/arm-unknown-linux-gnueabihf/lib/librustc_demangle-d0986f67a0a8b06a.rlib" "/home/emozdzen/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/arm-unknown-linux-gnueabihf/lib/libstd_detect-3576982a1ad9b832.rlib" "/home/emozdzen/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/arm-unknown-linux-gnueabihf/lib/libhashbrown-4da7a4f14c53fb33.rlib" "/home/emozdzen/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/arm-unknown-linux-gnueabihf/lib/librustc_std_workspace_alloc-f28c3b1e61002f48.rlib" "/home/emozdzen/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/arm-unknown-linux-gnueabihf/lib/libminiz_oxide-dc925c467824bf78.rlib" "/home/emozdzen/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/arm-unknown-linux-gnueabihf/lib/libadler-0edd0adf8830c688.rlib" "/home/emozdzen/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/arm-unknown-linux-gnueabihf/lib/libunwind-764a4c48dc9c79ed.rlib" "/home/emozdzen/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/arm-unknown-linux-gnueabihf/lib/libcfg_if-c243c5ed46f9a2a5.rlib" "/home/emozdzen/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/arm-unknown-linux-gnueabihf/lib/liblibc-abd2c95e62bcb5d4.rlib" "/home/emozdzen/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/arm-unknown-linux-gnueabihf/lib/liballoc-d339a36faaf8b2f0.rlib" "/home/emozdzen/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/arm-unknown-linux-gnueabihf/lib/librustc_std_workspace_core-8522b2d7e061b5b3.rlib" "/home/emozdzen/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/arm-unknown-linux-gnueabihf/lib/libcore-60ace01dc81213a4.rlib" "/home/emozdzen/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/arm-unknown-linux-gnueabihf/lib/libcompiler_builtins-3e9b64c7d649b58a.rlib" "-Wl,-Bdynamic" "-lgcc_s" "-lutil" "-lrt" "-lpthread" "-lm" "-ldl" "-lc" "-Wl,--eh-frame-hdr" "-Wl,-z,noexecstack" "-L" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/build/icasadi_open_optimizer-b8c30e486d802678/out" "-L" "/home/emozdzen/.rustup/toolchains/stable-x86_64-unknown-linux-gnu/lib/rustlib/arm-unknown-linux-gnueabihf/lib" "-o" "/home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/libopen_optimizer.so" "-Wl,--gc-sections" "-shared" "-Wl,-z,relro,-z,now" "-Wl,-O1" "-Wl,--strip-debug" "-nodefaultlibs"
  = note: /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: relocations in generic ELF (EM: 40)
          /usr/bin/ld: /home/emozdzen/repos/uav-tvc-goose/software/simulation/open_optimizer/target/arm-unknown-linux-gnueabihf/release/deps/open_optimizer.open_optimizer.123b2f22b8cc4874-cgu.0.rcgu.o: error adding symbols: file in wrong format
          collect2: error: ld returned 1 exit status
          

error: could not compile `open_optimizer` (lib) due to 1 previous error
Traceback (most recent call last):
  File "/home/emozdzen/repos/uav-tvc-goose/software/simulation/mpc-gen.py", line 117, in <module>
    builder.build()
  File "/home/emozdzen/.local/lib/python3.10/site-packages/opengen/builder/optimizer_builder.py", line 874, in build
    self.__build_optimizer()             # build overall project
  File "/home/emozdzen/.local/lib/python3.10/site-packages/opengen/builder/optimizer_builder.py", line 577, in __build_optimizer
    raise Exception('Rust build failed')
Exception: Rust build failed

System information:

• Ubuntu 22.04
• python 3.10.12
• opengen 0.9.2 (installed via pip)
• cargo 1.82
• rustup 1.27.1
• rustc 1.82

after typing rustup show I see:

Default host: x86_64-unknown-linux-gnu
rustup home:  /home/emozdzen/.rustup

installed targets for active toolchain
--------------------------------------

arm-unknown-linux-gnueabihf
thumbv7em-none-eabi
thumbv8m.main-none-eabi
x86_64-unknown-linux-gnu

active toolchain
----------------

stable-x86_64-unknown-linux-gnu (default)
rustc 1.82.0 (f6e511eec 2024-10-15)

[Eryk-Mozdzen]

Is there any chance of support on this topic? Even an simple tutorial how to compile for different target?

[alphaville]

@Eryk-Mozdzen This has proved to be challenging. It used to work just fine. We discovered that you need to set the linker when you compile with cargo.

Can you try the following: generate code with OpEn, but don't compile it. Then from your terminal, nagivate to the root folder of the generated code (e.g., my_optimizers/rosenbrock) and run the following:

export CARGO_TARGET_ARM_UNKNOWN_LINUX_GNUEABIHF_LINKER=/usr/bin/arm-linux-gnueabihf-ld; cargo build --target=arm-unknown-linux-gnueabihf

This works fine.

Then do the same from within the folder {root_path}/tcp_iface_rosenbrock. There we're currently getting an error about gcc_s not being found, but we're looking into it.

[alphaville]

So, I dug a bit deeper and it seems that this is all an issue with the linker. The following works fine (I had an unnecessary semicolon in my previous message^)

CARGO_TARGET_ARM_UNKNOWN_LINUX_GNUEABIHF_LINKER="arm-linux-gnueabihf-gcc" cargo build --target=arm-unknown-linux-gnueabihf

I will release a new version shortly.

[alphaville]

@Eryk-Mozdzen This issue has now been fixed in opengen v0.9.4 via PR #368. We have added a test in our CI workflow to make sure this works on Ubuntu and MacOS. I also copied the generated binary to a Raspberry Pi and made sure everything works. We have also updated the documentation on the website.